Merge branch 'master' of https://github.com/gtri/scrimmage

* 'master' of https://github.com/gtri/scrimmage: (227 commits) allowing an external force in the fixed wing model added a loop to call close() for all metrics plugins in simcontrol's shutdown() method (gtri#515) added more randomness to the entityPlugin shape hash (gtri#514) allow setting initial scale of aircraft in a mission file (gtri#511) fixed nullptr in draw_sphere (gtri#507) added optional argument of enable_gui with ardupilot SITL (gtri#513) Update GPS.proto Fix could not find plugin ROSAirSim bug (gtri#500) updated terrain generation docs Update docs to reflect Internal GTRI Mailing List and Fix Link (gtri#485) exposed the flush() function so that partial log files can be written in the case of scrimmage crashing Added a printer utility in the log directory. Usage comments are in src/log/Print.cpp. This utility is shared among plugins in the simulation and can be invoked to print to both the console and to a file in the log directory called console.log. * PrintDev() * PrintInfo() * PrintWarning() * PrintError() fix build issues Updated shape docs per issue gtri#438 Update README.md Create BatchExample.py Update multiple-local-runs.rst Fixing multi-agent bugs in scrimmage/openai travis.yml: Push docs to server from Ubuntu 20.04 docker image create docker tags for xenial, focal, latest ...
kemen209 · Jun 10, 2021 · 8e8a9be · 8e8a9be
2 parents 4e447e8 + fffeb46
commit 8e8a9be
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diff --git a/.gitignore b/.gitignore
@@ -37,3 +37,7 @@ tags*
 **.DS_Store
 **.ccls*
 .vscode
+env
+.idea*
+python/scrimmage/bindings
+python/dist
diff --git a/.travis.yml b/.travis.yml
@@ -4,9 +4,6 @@ env:
   global:
   - ENCRYPTION_LABEL: dcc9512392ad
 
-before_install:
-  - sudo apt-get install tar
-
 install:
  - echo '|1|hwoha+oiyHsKVrC9MhVGWVS26Pk=|GjfQxx3fU/0NzJb8DvMLSs9fXTc= ssh-rsa AAAAB3NzaC1yc2EAAAABIwAAAQEA363sO9FUaRFrYc3JGHLRfVCe49YBXVJYHt4HUhv8qaId/gFmL9tuL4SHuB5POc6zn+QGFrCQXfOSDBPcFI/lveDLMFWBx3k942tvtU4UUsdI0+8yvddGoILu5Rrw78HLmfXUUpjC9Qo27EO7OEkDbg6ybdQr82sBCjtTT9s7p9PWwXs6QISxsEek0ECNuQGBbICM6gm91zXFnwLa3COicvUpLGpFd0/jncObi2MjFrnyDPgDJ922DKkriwFQ0lFLBriHl10RLH3/KZjmivwmiSV+1J+Kvatf767hkEydEESTwe9++RLDh9/ab4KoKYbQ65da16Ai8Z6XwoOKIm/FYw==' >> $HOME/.ssh/known_hosts
 
@@ -20,55 +17,41 @@ services:
 jobs:
   include:
     - stage: "Build Docker Images"
-      env: CACHE_NAME=ubuntu1604
       name: "Build on Ubuntu 16.04"
       script:
       - export REPO=$DOCKER_USERNAME/scrimmage
-      - export DEPENDENCIES=$DOCKER_USERNAME/scrimmage-dependencies:latest
-      - export IMG_CACHE=$HOME/docker/scrimmage-dependencies-16.04.tar.gz
-      - export USE_CACHE=""
-      - if [ -f ${IMG_CACHE} ]; then
-            zcat ${IMG_CACHE} | docker load;
-            USE_CACHE="--cache-from ${DEPENDENCIES}";
-        fi
-      - docker build ${USE_CACHE} --target dependencies -t ${DEPENDENCIES} -f ./ci/dockerfiles/ubuntu-16.04 .
-      - docker build ${USE_CACHE} -t $REPO:${TRAVIS_BUILD_NUMBER} -f ./ci/dockerfiles/ubuntu-16.04 .
+      - docker build -t $REPO:xenial-${TRAVIS_BUILD_NUMBER} -f ./ci/dockerfiles/ubuntu-16.04 .
       - export TAG=`if [ "$TRAVIS_BRANCH" == "master" ] && [ "$TRAVIS_PULL_REQUEST" == "false" ]; then echo "latest"; else echo $TRAVIS_BRANCH ; fi`
       - |
         if [[ "$TAG" == "latest" ]]; then
             docker login -u="$DOCKER_USERNAME" -p="$DOCKER_PASSWORD";
-            docker tag $REPO:$TRAVIS_BUILD_NUMBER $REPO:$TAG;
-            docker create --name mycontainer $REPO:$TAG;
-            docker cp mycontainer:/root/scrimmage/scrimmage/build/docs ./doc_output;
-            bash ./ci/scripts/deploy-docs.sh;
+            docker tag $REPO:xenial-$TRAVIS_BUILD_NUMBER $REPO:xenial;
             docker push $REPO;
-            docker save ${DEPENDENCIES} | gzip -2 > ${IMG_CACHE};
         fi
+
     - name: "Build on Ubuntu 18.04"
-      env: CACHE_NAME=ubuntu1804
       script:
       - export REPO=$DOCKER_USERNAME/scrimmage
-      - export DEPENDENCIES=$DOCKER_USERNAME/scrimmage-dependencies:18.04
-      - export IMG_CACHE=$HOME/docker/scrimmage-dependencies-18.04.tar.gz
-      - export USE_CACHE=""
-      - if [ -f ${IMG_CACHE} ]; then
-            zcat ${IMG_CACHE} | docker load;
-            USE_CACHE="--cache-from ${DEPENDENCIES}";
-        fi
-      - docker build ${USE_CACHE} --target dependencies -t ${DEPENDENCIES} -f ./ci/dockerfiles/ubuntu-18.04 .
-      - docker build ${USE_CACHE} -t $REPO:${TRAVIS_BUILD_NUMBER} -f ./ci/dockerfiles/ubuntu-18.04 .
+      - docker build -t $REPO:bionic-${TRAVIS_BUILD_NUMBER} -f ./ci/dockerfiles/ubuntu-18.04 .
+      - export TAG=`if [ "$TRAVIS_BRANCH" == "master" ] && [ "$TRAVIS_PULL_REQUEST" == "false" ]; then echo "latest"; else echo $TRAVIS_BRANCH ; fi`
+
+    - name: "Build on Ubuntu 20.04"
+      script:
+      - export REPO=$DOCKER_USERNAME/scrimmage
+      - docker build -t $REPO:focal-${TRAVIS_BUILD_NUMBER} -f ./ci/dockerfiles/ubuntu-20.04 .
       - export TAG=`if [ "$TRAVIS_BRANCH" == "master" ] && [ "$TRAVIS_PULL_REQUEST" == "false" ]; then echo "latest"; else echo $TRAVIS_BRANCH ; fi`
       - |
         if [[ "$TAG" == "latest" ]]; then
-            docker save ${DEPENDENCIES} | gzip -2 > ${IMG_CACHE};
+            docker login -u="$DOCKER_USERNAME" -p="$DOCKER_PASSWORD";
+            docker tag $REPO:focal-$TRAVIS_BUILD_NUMBER $REPO:focal;
+            docker tag $REPO:focal-$TRAVIS_BUILD_NUMBER $REPO:$TAG;
+            docker create --name mycontainer $REPO:$TAG;
+            docker cp mycontainer:/root/scrimmage/scrimmage/build/docs ./doc_output;
+            bash ./ci/scripts/deploy-docs.sh;
+            docker push $REPO;
         fi
 
 notifications:
   email:
     on_success: change
     on_failure: always
-
-# Setup the docker cache directories
-cache:
-  directories:
-    - $HOME/docker
diff --git a/3rd-party/CMakeLists.txt b/3rd-party/CMakeLists.txt
@@ -7,7 +7,14 @@ set(SETUP_DIR "${CMAKE_SOURCE_DIR}/setup")
 set(PATCH_SCRIPT "${SETUP_DIR}/apply-patch.sh")
 
 option(BUILD_BINARY_PACKAGES "Build deb packages for dependencies." OFF)
-option(BUILD_SOURCE_PACKAGES "Build sources packages for dependencies." OFF)
+option(BUILD_SOURCE_PACKAGES "Build sources packages for dependencies." ON)
+
+include(ProcessorCount)
+ProcessorCount(N)
+if(NOT N EQUAL 0)
+  set(CTEST_BUILD_FLAGS -j${N})
+  set(ctest_test_args ${ctest_test_args} PARALLEL_LEVEL ${N})
+endif()
 
 if (BUILD_BINARY_PACKAGES AND BUILD_SOURCE_PACKAGES)
   message(FATAL_ERROR "You can only build source or binary packages, not both at one time.")
@@ -68,8 +75,8 @@ execute_process(COMMAND bash "-c" "${SETUP_DIR}/edit-config.sh ${SCRIMMAGE_LOCAL
 
 include(ExternalProject)
 
-set(JSBSIM_GIT_REPOSITORY git://git.code.sf.net/p/jsbsim/code)
-set(JSBSIM_GIT_TAG 36de9ac63c959cef5d7b2c56fb49c1a57fd46369)
+set(JSBSIM_GIT_REPOSITORY https://github.com/JSBSim-Team/jsbsim.git)
+set(JSBSIM_GIT_TAG 4840a621dafe1ce64970990ddaec3e86a1c7e082)
 ExternalProject_Add (
   jsbsim
   PREFIX ${CMAKE_CURRENT_BINARY_DIR}
@@ -104,27 +111,36 @@ ExternalProject_Add (
 ########################################################
 # Download and build grpc
 ########################################################
-configure_file(${PATCH_DIR}/grpc.patch.in ${PATCH_DIR}/grpc.patch)
 set(GRPC_VERSION_NUM 1.2.1)
 set(GRPC_VERSION v${GRPC_VERSION_NUM})
 set(GRPC_GIT_REPOSITORY https://github.com/grpc/grpc)
+
+
 ExternalProject_Add (
   grpc
   PREFIX ${CMAKE_CURRENT_BINARY_DIR}
   BUILD_IN_SOURCE 1
   CONFIGURE_COMMAND ""
-  BUILD_COMMAND make HAS_SYSTEM_PROTOBUF=true PROTOC=${PROTOBUF_DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/protoc
+  BUILD_COMMAND
+    ${CMAKE_COMMAND} -E env
+        LD_LIBRARY_PATH=${PROTOBUF_DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/
+        PKG_CONFIG_PATH=${PROTOBUF_DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/pkgconfig/
+        make
+            HAS_SYSTEM_PROTOBUF=true
+            PROTOC=${PROTOBUF_DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/protoc
+            CFLAGS=-Wno-error
+            ${CTEST_BUILD_FLAGS}
   DEPENDS protobuf
   GIT_REPOSITORY ${GRPC_GIT_REPOSITORY}
   GIT_TAG ${GRPC_VERSION}
   UPDATE_COMMAND ""
-  PATCH_COMMAND ${PATCH_SCRIPT} ${PATCH_DIR}/grpc.patch
+  PATCH_COMMAND
+    ${PATCH_SCRIPT} ${PATCH_DIR}/grpc-0001-Include-lib-dir-in-link-flags.patch
+    COMMAND
+    ${PATCH_SCRIPT} ${PATCH_DIR}/grpc-0002-Fix-build-with-more-recent-openssl.patch
+    COMMAND
+    ${PATCH_SCRIPT} ${PATCH_DIR}/grpc-0003-Fix-incorrect-linker-commands-in-grpc.patch
   INSTALL_COMMAND make install prefix=${GRPC_INSTALL_PREFIX}
-  #  CMAKE_ARGS
-  #    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-  #    -DCMAKE_PREFIX_PATH=${CMAKE_INSTALL_PREFIX}
-  #    -DgRPC_PROTOBUF_PROVIDER="package"
-  #    -DgRPC_SSL_PROVIDER="package"
   )
 
 ########################################################
@@ -186,7 +202,7 @@ if (BUILD_SOURCE_PACKAGES)
   find_package(CMakeDebSrc)
   SET(PPA "ppa:kevin-demarco/scrimmage" CACHE STRING "Launchpad PPA for dput.")
   SET(GPG_KEY_ID "3951DA01" CACHE STRING "GPG Key ID on local system.")
-  SET(DISTRIBUTIONS "xenial jessie" CACHE STRING "Target Linux distributions.")
+  SET(DISTRIBUTIONS "xenial bionic focal jessie" CACHE STRING "Target Linux distributions.")
   SET(ARCHITECTURES "amd64 i386 armhf arm64" CACHE STRING "Possible build architectures.")
 
   BuildDebSrcFromRepo(
@@ -197,7 +213,7 @@ if (BUILD_SOURCE_PACKAGES)
     GIT_REPOSITORY ${PYBIND11_GIT_REPOSITORY}
     GIT_TAG ${PYBIND11_GIT_TAG}
     SOURCE_VERSION 2.2.3
-    PPA_VERSION_NUMBER 6
+    PPA_VERSION_NUMBER 7
     PPA ${PPA}
     GPG_KEY_ID ${GPG_KEY_ID}
     UPDATE_COMMAND ""
@@ -244,12 +260,12 @@ if (BUILD_SOURCE_PACKAGES)
     PACKAGES_DIR ${CMAKE_SOURCE_DIR}/packages
     GIT_REPOSITORY ${JSBSIM_GIT_REPOSITORY}
     GIT_TAG ${JSBSIM_GIT_TAG}
-    SOURCE_VERSION 0.1
-    PPA_VERSION_NUMBER 6
+    SOURCE_VERSION 0.2
+    PPA_VERSION_NUMBER 1
     PPA ${PPA}
     GPG_KEY_ID ${GPG_KEY_ID}
     UPDATE_COMMAND ""
-    PATCH_COMMAND ${PATCH_SCRIPT} ${PATCH_DIR}/jsbsim.patch && ${SETUP_DIR}/install-aircraft.sh -c "${CMAKE_CURRENT_BINARY_DIR}/src/scrimmage-jsbsim-xenial-deb-src"
+    PATCH_COMMAND ${PATCH_SCRIPT} ${PATCH_DIR}/jsbsim.patch && ${SETUP_DIR}/install-aircraft.sh -c "${CMAKE_CURRENT_BINARY_DIR}/src/scrimmage-jsbsim-*-deb-src"
     CONFIGURE_COMMAND ""
     )
 
@@ -307,9 +323,9 @@ if (BUILD_SOURCE_PACKAGES)
     ARCHITECTURES ${ARCHITECTURES}
     PACKAGES_DIR ${CMAKE_SOURCE_DIR}/packages
     PROJECT_DIRECTORY ${CMAKE_SOURCE_DIR}/packages/scrimmage-dependencies/scrimmage-dependencies
-    SOURCE_VERSION 0.2.1
+    SOURCE_VERSION 0.2.2
     PPA ${PPA}
-    PPA_VERSION_NUMBER 6
+    PPA_VERSION_NUMBER 8
     GPG_KEY_ID ${GPG_KEY_ID}
     )
 
@@ -321,7 +337,7 @@ if (BUILD_SOURCE_PACKAGES)
     GIT_REPOSITORY https://github.com/SyllogismRXS/scrimmage-extra-data.git
     GIT_TAG master
     SOURCE_VERSION 0.1
-    PPA_VERSION_NUMBER 6
+    PPA_VERSION_NUMBER 7
     PPA ${PPA}
     GPG_KEY_ID ${GPG_KEY_ID}
     UPDATE_COMMAND ""

diff --git a/3rd-party/README.md b/3rd-party/README.md
@@ -2,24 +2,36 @@
 
 SCRIMMAGE currently targets Ubuntu Xenial. This means that if a package exists
 in Ubuntu Xenial that SCRIMMAGE depends on, apt-get will be used to install the
-package. However, in some cases, we need much newer versions of the software
-than are provided by Canonical. This subproject is for building the few
-dependencies that have to be built from source because we require custom or
-newer versions of the software. This project can build deb, rpm, source
-binaries (for PPA), and local builds for the required dependencies.
+package.
+
+However, in some cases, we need much newer versions of the software than are
+provided by Canonical. This subproject is for building the few dependencies
+that have to be built from source because we require custom or newer versions
+of the software.
+
+This project can build deb, rpm, source binaries (for PPA), and local builds
+for the required dependencies.
 
 ## Build Local Versions of dependencies
 
 This is the old process for installing SCRIMMAGE's dependencies, but it will be
 maintained for system flexibility. After running the following commands, the
-dependencies will be installed under ~/.local :
+dependencies will be installed under `~/.local`:
 
     $ cd /path/to/3rd-party
     $ mkdir -p build && cd build
     $ cmake ..
     $ source ~/.scrimmage/setup.bash
     $ make
 
+After building these libraries, you can make use of them by adding them to the
+`LD_LIBRARY_PATH` and then following the standard build process:
+
+    $ export LD_LIBRARY_PATH="$HOME/.local/lib/"
+    $ cd build
+    $ cmake .. -DCMAKE_PREFIX_PATH="$HOME/.local"
+    $ make
+
 ## Build deb packages
 
 deb packages for the dependencies can be built by running the following
@@ -38,29 +50,35 @@ Similarly, rpm packages can be built:
     $ cmake .. -DBUILD_BINARY_PACKAGES=ON -DPACKAGE_OUTPUT_TYPE=rpm
     $ make
 
-## Build debian source packages
+## Build Debian source packages
 
-In order for Launchpad to provide debian binary packages, debian source
-packages have to be uploaded to Launchpad via dput. This project provides cmake
-build targets for the building of these source packages. It is recommended that
-you use a different build directory for building PPA source packages since some
-of the CMake variables may conflict with your locally built binary
-packages. You have to manually specify PPA targets to build since they are not
-built by default to discourage uploading to Launchpad accidently. By default,
+Launchpad requires Debian source packages in order to provide compiled
+packages. These source packages are built with the CMake build targets in this
+directory and uploaded to Launchpad with
+[dput](http://manpages.ubuntu.com/manpages/xenial/man1/dput.1.html).
+
+It is recommended that you use a different build directory for building PPA
+source packages since some of the CMake variables may conflict with your
+locally built binary packages.
+
+You have to manually specify PPA targets to build since they are not
+built by default to discourage uploading to Launchpad accidentally. By default,
 the packages are uploaded to Kevin DeMarco's PPA
-(ppa:kevin-demarco/scrimmage). Thus, if you don't have his GPG keys (which you
+(`ppa:kevin-demarco/scrimmage`). Thus, if you don't have his GPG keys (which you
 don't), but you still want to upload to Launchpad, you will need to create a
 Launchpad account, a PPA, and setup your GPG keys with the Ubuntu
-keyserver. You can change the PPA and GPG key ID with the "PPA" and
-"GPG\_KEY\_ID" CMake cache variables. 
+keyserver. You can change the PPA and GPG key ID with the `PPA` and
+`GPG_KEY_ID` CMake cache variables.
 
 The CMakeDebSrc cmake project is used to build the debian source
 packages. CMakeDebSrc is a collection of cmake scripts that wrap around
 pbuilder commands to build packages for various Linux distributions and
-architectures. First, clone and install the CMakeDebSrc project from GitHub:
-https://github.com/SyllogismRXS/CMakeDebSrc. You will also need to use pbuilder
-to initialize a base tarball and setup a pbuilderrc file (see CMakeDebSrc's
-installation instructions).
+architectures.
+
+First, clone and install the [CMakeDebSrc project from
+GitHub](https://github.com/SyllogismRXS/CMakeDebSrc). You will also need to use
+pbuilder to initialize a base tarball and setup a `/.pbuilderrc` file (see
+CMakeDebSrc's installation instructions).
 
     $ cd /path/to/3rd-party
     $ mkdir -p build-ppa && cd build-ppa
@@ -71,17 +89,18 @@ installation instructions).
 
 As changes are made to the dependencies source code and the debian packaging
 configuration files, the package maintainer needs to bump the versions for the
-SOURCE\_VERSION and PPA\_NUMBER in the root CMakeLists.txt file. Note: Allow
-protobuf3 to build successfully on the Launchpad server before building
-grpc. Then, allow grpc to build successfully before building the
+`SOURCE_VERSION` and `PPA_NUMBER` in the root `CMakeLists.txt` file.
+
+Note: Allow protobuf3 to build successfully on the Launchpad server before
+building grpc. Then, allow grpc to build successfully before building the
 dependencies-ppa.
 
 ## Build GRPC and Protobuf Python Packages from Source
 
-### Install protobuf Python package
+### Install Protobuf Python package
 
 Protobuf should be installed using the source files that are compiled during
-build.  Using protobuf from PyPI (i.e. what you get with `pip install protobuf`
+build. Using Protobuf from PyPI (i.e. what you get with `pip install protobuf`
 ) is known to cause crashes.
 
     $ cd /path/to/scrimmage/3rd-party/build/src/protobuf/python
@@ -119,6 +138,7 @@ Allow pbuilder to have access to the network during build-time:
     $ make scrimmage-pybind11-local-test
 
 ## Manual
+
 Change directories to the location of the *.dsc file that was created and run
 pbuilder:
 
@@ -127,9 +147,9 @@ pbuilder:
 
 ## Test Resulting Binary Debian Packages
 
-The result of the package-name-local-test target is a debian binary package,
-which is usually output to ~/pbuilder/xenial_result. To see the contents of the
-output binary package, run the following command:
+The result of the package-name-local-test target is a Debian binary package,
+which is usually output to `~/pbuilder/xenial_result`. To see the contents of
+the output binary package, run the following command:
 
     $ dpkg -c ~/pbuilder/xenial_result/scrimmage-pybind11_0.1.1-0ppa1_amd64.deb
 

diff --git a/3rd-party/packages/scrimmage-dependencies/bionic/debian/changelog.in b/3rd-party/packages/scrimmage-dependencies/bionic/debian/changelog.in
@@ -0,0 +1,5 @@
+scrimmage-dependencies (@ARG_SOURCE_VERSION@.@ARG_PPA_VERSION_NUMBER@-@ARG_PPA_VERSION_NUMBER@-@ARG_DISTRIBUTION@ppa@ARG_PPA_VERSION_NUMBER_SUFFIX@) @ARG_DISTRIBUTION@; urgency=medium
+
+  * Initial upload!
+
+ -- Kevin DeMarco <[email protected]>  @DATE_STRING@
diff --git a/3rd-party/packages/scrimmage-dependencies/bionic/debian/compat b/3rd-party/packages/scrimmage-dependencies/bionic/debian/compat
@@ -0,0 +1 @@
+9
diff --git a/3rd-party/packages/scrimmage-dependencies/bionic/debian/control b/3rd-party/packages/scrimmage-dependencies/bionic/debian/control
@@ -0,0 +1,16 @@
+Source: scrimmage-dependencies
+Section: devel
+Priority: optional
+Maintainer: Kevin DeMarco <[email protected]>
+Build-Depends: debhelper (>= 9), cmake, build-essential
+Homepage: https://www.scrimmagesim.org
+
+Package: scrimmage-dependencies
+Depends: scrimmage-pybind11, 
+         scrimmage-jsbsim,
+         scrimmage-protobuf3,
+         scrimmage-grpc
+Architecture: any
+Multi-Arch: same
+Description: dependencies used by SCRIMMAGE
+ This is the version of dependencies used by SCRIMMAGE